CN106644535A - Three-freedom magnetic levitation station for full-physical simulation of gesture control system - Google Patents
Three-freedom magnetic levitation station for full-physical simulation of gesture control system Download PDFInfo
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- CN106644535A CN106644535A CN201610822351.XA CN201610822351A CN106644535A CN 106644535 A CN106644535 A CN 106644535A CN 201610822351 A CN201610822351 A CN 201610822351A CN 106644535 A CN106644535 A CN 106644535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
A three-freedom magnetic levitation station for full-physical simulation of a gesture control system. The three-freedom magnetic levitation station comprises three modules, namely a load platform, a magnetic bearing set and a supporting base. Various individual machines of the gesture control system are placed on the load platform. The magnetic bearing set supplies a three-freedom controllable magnetic force to the load platform, thereby realizing leviation of the load platform and making the load platform perform free motion in three rotation directions. The supporting base realizes a supporting function and a protecting function on the load platform in a non-levitation state. According to the three-freedom magnetic levitation station, a magnetic bearing levitation load platform is used; the three-freedom magnetic levitation station can perform full-physical simulation of the gesture control system in a vacuum environment at a high temperature or low temperature so that full-physical simulation of the gesture control system more approaches a space environment. The three-freedom magnetic levitation station has advantages of realizing a three-freedom translation control force to the load platform without a rotating torque, eliminating air flow disturbance of the magnetic levitation station, actively isolating vibration and improving full-physical simulation precision. The three-freedom magnetic levitation station is suitable for performing three-freedom full-physical simulation on small satellites.
Description
Technical field
The present invention relates to a kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform, it is adaptable to carry out three to moonlet
Free degree full physical simulation, with full physical simulation vacuum environment, the ability of high and low temperature environment.
Background technology
Attitude control system of the spacecraft full physical simulation platform is moved to the spacecraft under simulation space environment on the ground, its
The unit used on upper carrying spacecraft.Full physical simulation than mathematical simulation closer to spacecraft actual motion environment, precision more
Height, and impact of each unit to posture control system performance can be investigated.Attitude control system of the spacecraft full physical simulation is to verifying spacecraft
The correctness of control system conceptual design, the actual control performance of inspection are most important.
At present posture control system full physical simulation platform mainly adopts air floating table form.The air-bearing of air floating table ejects height
Body of calming the anger produces reaction force to balance the gravity of air floating table, while forming one layer of gas between air-bearing and spindle socket
Film so that air floating table can simulate microgravity and the satellite motion of zero friction in the outer space.But, air floating table has following
It is not enough：
(1) difficulty of processing is big：Size of gaps only has 10～20 microns, high to the sphere roughness requirements of air-bearing.
(2) disturb big：The gases at high pressure that air-bearing is ejected can produce certain flow perturbation to load end, and these are disturbed
It is dynamic to reduce physical simulation precision.
(3) hot vacuum environment cannot be simulated：Need to carry out at normal temperatures and pressures based on the full physical simulation of air floating table.Each list
The performance of machine changes with ambient parameters such as temperature, vacuums, can affect the stability and precision of posture control system.Although each unit system
System is realized through thermal vacuum, thermal cycle, but whole control stability and precision of the posture control system under vacuum, high and low temperature environment
Full physical simulation cannot be carried out.
Li Zhi is refined, Li Minghang, and Li Jian etc. has invented a kind of uniaxial full physical simulation magnetic floating platform (CN200710064795.2),
The gimbal axis of turntable is suspended with magnetic bearing, zero fricting movement of one degree of freedom is simulated.But, Simulated Spacecraft gesture stability
Need three degree of freedom.
The content of the invention
The present invention technology solve problem be：Overcome the deficiencies in the prior art, there is provided a kind of full physics of posture control system is imitated
Really Three Degree Of Freedom magnetic floating platform is used, system magnetic bearing suspension load simulation platform is realized complete to the Three Degree Of Freedom of posture control system
Physical simulation.The disturbance of air floating table load end airless is eliminated, while being capable of achieving active vibration isolation.Can be to whole posture control system true
Control stability and precision under empty, high and low temperature environment carries out Three Degree Of Freedom full physical simulation.
The technical scheme is that：A kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform, including load flat
Platform, magnetic bearing group and supporting base；The various posture control system units of posture control system are placed on load platform；Magnetic bearing group is to load
Platform provides the controllable magnetic of three degree of freedom, suspension load platform so as to the free movement in three rotation directions；Supporting base
Seat provides supporting and protective effect to the load platform under non-suspended state.
Described load platform is dumbbell structure, including supports billiard table, connecting shaft and load surface；Supporting billiard table is located at centre
Position, the sphere roughness for supporting billiard table is less than 10 microns；Connecting shaft has two, is cylindrical shape, and the one of two connecting shafts
End is separately fixed on two table tops of supporting billiard table, the centre of sphere that the central shaft of connecting shaft passes through supporting billiard table, and with supporting ball
The table top of platform is vertical；Load surface has two, is thin truncated cone-shaped, and the other end of two connecting shafts is separately fixed at two load surfaces
On, the central shaft of load surface and the center overlapping of axles of connecting shaft；Posture control system unit is fixed on load surface；Connecting shaft central shaft
Balance weight A is placed with, balance weight B, balance weight C on load surface, adjustment balance weight A, balance weight B, the position of balance weight C make
The centre of sphere of supporting billiard table overlaps with the barycenter of load platform.
Described magnetic bearing group includes three independent magnetic bearings, i.e. the first magnetic bearing, the second magnetic bearing, the 3rd magnetic axis
Hold；Three magnetic bearings are fixed to external vacuum top tank structure top；Each magnetic bearing has two magnetic poles of N, S, and magnetic pole end face is
Spherical-concave-surface, sphere roughness is less than 10 microns；In the case of suspension bearing billiard table, each pole center axle is by supporting ball
The centre of sphere of platform；The pole center axis of spindle of magnetic bearing two is magnetic bearing central shaft, and three magnetic bearing central shafts are vertical two-by-two, to
Hold billiard table and magnetic force is provided, realize the suspension uneoupled control of the Three Degree Of Freedom translational motion to load platform.
The supporting base is made up of cylinder table and three universal bearings；Cylinder table bottom is cylindric, is fixed to outside
Vacuum top tank structure low side；Three sloping platform faces are arranged at cylinder table top, and sloping platform face is separated by centered on the disc center of circle of cylinder table top
120 degree of circle distributions, the centre of sphere that sloping platform face top normal passes through supporting billiard table, sloping platform face and cylinder countertop angle are 35.3
Degree；Three universal bearings are fixed on sloping platform face, and the distance between universal bearing and three contact points of load platform sphere are to prop up
Hold billiard table radiusTimes；Supporting base upper surface outer is embedded in rubber ring, and position limitation protection effect is played to load platform.
Compared with the prior art, the invention has the advantages that：
The present invention uses magnetic bearing suspension load platform, and the full thing of posture control system can be carried out under vacuum, high and low temperature environment
Reason emulation, makes posture control system full physical simulation closer to space environment.The present invention devises a kind of Three Degree Of Freedom full decoupling magnetcisuspension
Floating axle holds distributed architecture, while realization to load plane Three Degree Of Freedom translation controling power, does not produce the rotation to load platform
Torque, while eliminating the flow perturbation of air floating table, and can improve full thing with active isolation load and the vibration of vacuum tank
The precision of reason emulation.
Description of the drawings
Fig. 1 is posture control system full physical simulation magnetic floating platform structured flowchart；
Fig. 2 is load platform structure chart；
Fig. 3 is that load platform static balance adjusts structure chart；
Fig. 4 is that magnetic bearing is distributed top view；
Fig. 5 is supporting base structure chart.
Specific embodiment
As shown in figure 1, the invention mainly comprises three modules：1st, load platform；2nd, magnetic bearing group；3rd, supporting base.It is negative
The various units of posture control system are placed on carrying platform.Magnetic bearing group provides the controllable magnetic of three degree of freedom to load platform, hangs
Floating load platform so as to the free movement in three rotation directions.Supporting base is provided to the load platform under non-suspended state
Supporting and protective effect.
Load platform structure chart is illustrated in figure 2, load platform is dumbbell structure, including supports billiard table, connecting shaft and bear
Section；Supporting billiard table is centrally located, is billiard table body, and the sphere roughness for supporting billiard table is less than 10 microns；Connecting shaft has
Two, cylindrical shape is, one end of two connecting shafts is separately fixed on two table tops of supporting billiard table, the central shaft of connecting shaft
It is by the centre of sphere for supporting billiard table and vertical with the table top of supporting billiard table；Load surface has two, is thin truncated cone-shaped, two connecting shafts
The other end be separately fixed on two load surfaces, the central shaft of load surface and the center overlapping of axles of connecting shaft；Posture control system list
Machine is fixed on load surface.
Fig. 3 show load platform static balance adjustment structure chart, balance weight A is placed in the central shaft of connecting shaft, in load
Balance weight B, balance weight C are placed on the vertical axis of face two, with linear electric motors balance weight A, balance weight B, balance weight C are driven, adjust it
Position, makes the centre of sphere of supporting billiard table overlap with the barycenter of load platform.
Fig. 4 show magnetic bearing component cloth top view, and magnetic bearing group includes three independent magnetic bearings, i.e. the first magnetic axis
Hold, the second magnetic bearing, the 3rd magnetic bearing；Three magnetic bearings are fixed to vacuum top tank structure top；Each magnetic bearing has N, S two
Magnetic pole, magnetic pole end face is spherical-concave-surface, and sphere roughness is less than 10 microns；In the case of suspension bearing billiard table, each magnetic pole
Central shaft is by the centre of sphere of supporting billiard table；The pole center axis of spindle of magnetic bearing two be magnetic bearing central shaft, three magnetic bearings
Central shaft is vertical two-by-two, and to supporting billiard table magnetic force is provided, and realizes the suspension decoupling of the Three Degree Of Freedom translational motion to load platform
Control.
It is illustrated in figure 5 supporting base structure chart.Supporting base is made up of cylinder table and three universal bearings.Under cylinder table
Portion is cylindric, is fixed to vacuum top tank structure low side；Three sloping platform faces are arranged at cylinder table top, and sloping platform face is with cylinder table top disc
Centered on the center of circle, it is separated by 120 degree of circle distributions, the centre of sphere that sloping platform face top normal passes through supporting billiard table, sloping platform face and cylinder table
Top surface angle is 35.3 degree.Three universal bearings are fixed on sloping platform face, universal bearing and three contact points of load platform sphere
The distance between to support billiard table radiusTimes.Supporting base upper surface outer is embedded in rubber ring, and limit is played to load platform
Position protective effect.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (4)
1. a kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform, it is characterised in that：Including load platform, magnetic bearing group
And supporting base；The various posture control system units of posture control system are placed on load platform；Magnetic bearing group provides three to load platform
The controllable magnetic of the individual free degree, suspension load platform so as to the free movement in three rotation directions；Supporting base gives non-suspension
Load platform under state provides supporting and protective effect.
2. a kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform according to claim 1, it is characterised in that：Institute
The load platform stated is dumbbell structure, including supports billiard table, connecting shaft and load surface；Supporting billiard table is centrally located, supporting
The sphere roughness of billiard table is less than 10 microns；Connecting shaft has two, is cylindrical shape, and one end of two connecting shafts is fixed respectively
On two table tops of supporting billiard table, the central shaft of connecting shaft is hung down by supporting the centre of sphere of billiard table with the table top of supporting billiard table
Directly；Load surface has two, is thin truncated cone-shaped, and the other end of two connecting shafts is separately fixed on two load surfaces, load surface
The center overlapping of axles of central shaft and connecting shaft；Posture control system unit is fixed on load surface；Connecting shaft central shaft is placed with balance
Block A, balance weight B, balance weight C on load surface, adjustment balance weight A, balance weight B, the position of balance weight C, make supporting billiard table
The centre of sphere overlaps with the barycenter of load platform.
3. a kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform according to claim 1, it is characterised in that：Institute
The magnetic bearing group stated includes three independent magnetic bearings, i.e. the first magnetic bearing, the second magnetic bearing, the 3rd magnetic bearing；Three magnetic axises
Hold and be fixed to external vacuum top tank structure top；Each magnetic bearing has two magnetic poles of N, S, and magnetic pole end face is spherical-concave-surface, sphere
Roughness is less than 10 microns；In the case of suspension bearing billiard table, each pole center axle is by the centre of sphere of supporting billiard table；Magnetic
The pole center axis of spindle of bearing two is magnetic bearing central shaft, and three magnetic bearing central shafts are vertical two-by-two, provide to supporting billiard table
Magnetic force, realizes the suspension uneoupled control of the Three Degree Of Freedom translational motion to load platform.
4. a kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform according to claim 1, it is characterised in that：Institute
State supporting base to be made up of cylinder table and three universal bearings；Cylinder table bottom is cylindric, is fixed to external vacuum top tank structure
Low side；Three sloping platform faces are arranged at cylinder table top, and sloping platform face is separated by 120 degree of circumference point centered on the disc center of circle of cylinder table top
Cloth, the centre of sphere that sloping platform face top normal passes through supporting billiard table, sloping platform face and cylinder countertop angle are 35.3 degree；Three universal drive shafts
Hold and be fixed on sloping platform face, the distance between universal bearing and three contact points of load platform sphere are supporting billiard table radiusTimes；Supporting base upper surface outer is embedded in rubber ring, and position limitation protection effect is played to load platform.
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| CN201610822351.XA CN106644535B (en) | 2016-09-13 | 2016-09-13 | A kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform |
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| CN201610822351.XA CN106644535B (en) | 2016-09-13 | 2016-09-13 | A kind of posture control system full physical simulation Three Degree Of Freedom magnetic floating platform |
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| CN106644535A true CN106644535A (en) | 2017-05-10 |
| CN106644535B CN106644535B (en) | 2019-05-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212816A (en) * | 2021-05-31 | 2021-08-06 | 哈尔滨工业大学 | Suspension type four-degree-of-freedom motion simulation system and use method |
Citations (5)
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|---|---|---|---|---|
| JPS6117741A (en) * | 1984-06-30 | 1986-01-25 | Toshiba Corp | Fly wheel device |
| EP0338933A1 (en) * | 1988-04-20 | 1989-10-25 | Societe De Mecanique Magnetique | Active magnetically suspended vibration device controlled in three axes |
| JPH02236019A (en) * | 1989-03-08 | 1990-09-18 | Nippon Seiko Kk | Spherical magnetic bearing |
| EP2808568A1 (en) * | 2013-05-27 | 2014-12-03 | Siemens Aktiengesellschaft | Mounting bearing for rotors |
| CN105674010A (en) * | 2016-04-18 | 2016-06-15 | 上海卫星工程研究所 | Umbrella-shaped telescopic limiting protection device for three-axis air floating platform |
-
2016
- 2016-09-13 CN CN201610822351.XA patent/CN106644535B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6117741A (en) * | 1984-06-30 | 1986-01-25 | Toshiba Corp | Fly wheel device |
| EP0338933A1 (en) * | 1988-04-20 | 1989-10-25 | Societe De Mecanique Magnetique | Active magnetically suspended vibration device controlled in three axes |
| JPH02236019A (en) * | 1989-03-08 | 1990-09-18 | Nippon Seiko Kk | Spherical magnetic bearing |
| EP2808568A1 (en) * | 2013-05-27 | 2014-12-03 | Siemens Aktiengesellschaft | Mounting bearing for rotors |
| CN105674010A (en) * | 2016-04-18 | 2016-06-15 | 上海卫星工程研究所 | Umbrella-shaped telescopic limiting protection device for three-axis air floating platform |
Non-Patent Citations (2)
| Title |
|---|
| 刘云平: "航天器多体系统姿态动力学与控制的研究", 《中国博士学位论文全文数据库工程科技Ⅱ辑》 * |
| 李丽君 等: "磁悬浮万向飞轮在卫星姿态机动中的应用", 《机械工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212816A (en) * | 2021-05-31 | 2021-08-06 | 哈尔滨工业大学 | Suspension type four-degree-of-freedom motion simulation system and use method |
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| CN106644535B (en) | 2019-05-24 |
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